Merge branch 'improve-finding-ipopt' into 'master'

Minor fixes for finding IPOpt

See merge request !80

cmake/modules/FindIPOpt.cmake

@@ -9,12 +9,12 @@ find_library(DL_LIBRARY dl)
 find_path(IPOPT_INCLUDE_DIR
   NAMES "IpNLP.hpp"
   PATHS ${IPOPT_ROOT}
-  PATH_SUFFIXES "include" "include/coin"
+  PATH_SUFFIXES "include" "include/coin" "include/coin-or"
   NO_DEFAULT_PATH
 )
 find_path(IPOPT_INCLUDE_DIR
   NAMES "IpNLP.hpp"
-  PATH_SUFFIXES "include" "include/coin"
+  PATH_SUFFIXES "include" "include/coin" "include/coin-or"
 )
 
 find_library(IPOPT_LIBRARY
@@ -40,7 +40,7 @@ find_library(HSL_LIBRARY
 
 find_package_handle_standard_args(hsl DEFAULT_MSG HSL_LIBRARY)
 find_package_handle_standard_args(dl DEFAULT_MSG DL_LIBRARY)
-find_package_handle_standard_args(Ipopt DEFAULT_MSG IPOPT_INCLUDE_DIR IPOPT_LIBRARY)
+find_package_handle_standard_args(IPOpt DEFAULT_MSG IPOPT_INCLUDE_DIR IPOPT_LIBRARY)
 
 if(IPOPT_FOUND)
     set(HAVE_IPOPT ENABLE_IPOPT)

dune/solvers/solvers/quadraticipopt.hh

@@ -813,10 +813,24 @@ void QuadraticIPOptSolver<MatrixType,VectorType,JacobianType>::solve()
   if (status == Ipopt::Solved_To_Acceptable_Level)
       std::cout<<"WARNING: Desired tolerance could not be reached, but still acceptable tolerance is reached.\n";
   else if (status == Ipopt::Search_Direction_Becomes_Too_Small) {
-      std::array<Ipopt::Number,4> inf;
-      app->Statistics()->Infeasibilities(inf[0],inf[1],inf[2],inf[3]);
-      if (inf[3]>std::max(1e-10,this->tolerance_))
-              DUNE_THROW(Dune::Exception,Dune::formatString("Problem could not be solved to acceptable accuracy %d",inf[3]));
+      Ipopt::Number dual_inf;        // dual infeasibility (Gradient of Lagrangian not zero)
+      Ipopt::Number constr_viol;     // violation of constraints
+#if IPOPT_VERSION_MAJOR>=3 && IPOPT_VERSION_MINOR>=14
+      Ipopt::Number varbounds_viol;  // violation of variable bounds
+#endif
+      Ipopt::Number complementarity; // violation of complementarity
+      Ipopt::Number kkt_error;       // KKT error
+
+      app->Statistics()->Infeasibilities(dual_inf,
+                                         constr_viol,
+#if IPOPT_VERSION_MAJOR>=3 && IPOPT_VERSION_MINOR>=14
+                                         varbounds_viol,
+#endif
+                                         complementarity,
+                                         kkt_error);
+
+      if (kkt_error>std::max(1e-10,this->tolerance_))
+              DUNE_THROW(Dune::Exception,Dune::formatString("Problem could not be solved to acceptable accuracy %d", kkt_error));
 
   } else if (status != Ipopt::Solve_Succeeded)
       DUNE_THROW(Dune::Exception, "IPOpt: Error during optimization!");